Multi-camera endoscope

ABSTRACT

A tip section of a multi-camera endoscope includes a front-pointing camera on a planar surface of a distal end of the tip section and two side-pointing cameras positioned on a cylindrical surface in proximity to the planar surface such that the side field of view provided by the two side-pointing cameras partially overlaps with the front field of view provided by the front-pointing camera. The tip section further includes a working channel configured for insertion of a surgical tool; and a pathway fluid injector for inflating and/or cleaning a body cavity into which the endoscope is inserted.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.13/190,968, filed Jul. 26, 2011, which is a continuation-in-part (CIP)of U.S. patent application Ser. No. 13/119,032, filed Mar. 15, 2011which is a national phase application with the U.S. Patent and TrademarkOffice of International Patent Application No. PCT/IL2010/000476, filedJun. 18, 2010, which claims the benefit of U.S. Provisional PatentApplication No. 61/218,085, filed Jun. 18, 2009 and entitled “EndoscopeHaving Multiple Fields of View”, which are incorporated herein byreference in their entirety.

FIELD

Embodiments of the disclosure relate to a multi-camera endoscope.

BACKGROUND

Endoscopes have attained great acceptance within the medical community,since they provide a means for performing procedures with minimalpatient trauma, while enabling the physician to view the internalanatomy of the patient. Over the years, numerous endoscopes have beendeveloped and categorized according to specific applications, such ascystoscopy, colonoscopy, laparoscopy, upper GI endoscopy and others.Endoscopes may be inserted into the body's natural orifices or throughan incision in the skin.

An endoscope is usually an elongated tubular shaft, rigid or flexible,having a video camera or a fiber optic lens assembly at its distal end.The shaft is connected to a handle, which sometimes includes an ocularfor direct viewing. Viewing is also usually possible via an externalscreen. Various surgical tools may be inserted through a working channelin the endoscope for performing different surgical procedures.

The foregoing examples of the related art and limitations relatedtherewith are intended to be illustrative and not exclusive. Otherlimitations of the related art will become apparent to those of skill inthe art upon a reading of the specification and a study of the figures.

SUMMARY

The following embodiments and aspects thereof are described andillustrated in conjunction with systems, tools and methods which aremeant to be exemplary and illustrative, not limiting in scope.

There is provided, according to some embodiments, a tip section of amulti-camera endoscope, the tip section comprising: two or moreside-pointing cameras positioned at or in proximity to a distal end ofsaid tip section, wherein the field of view provided by said two or moreside-pointing cameras covers a front and side views; one or morediscrete illuminator; a working channel configured for insertion of asurgical tool; and a pathway fluid injector for inflating and/orcleaning a body cavity into which the endoscope is inserted.

There is provided, according to some embodiments, a multi-cameraendoscope comprising: an elongated shaft terminating with a tip sectionturnable by way of a bending section, wherein said tip sectioncomprises: two or more side-pointing cameras positioned at or inproximity to a distal end of said tip section, wherein the field of viewprovided by said two or more side-pointing cameras covers a front andside views; one or more discrete illuminator; a working channelconfigured for insertion of a surgical tool; and a pathway fluidinjector for inflating and/or cleaning a body cavity into which theendoscope is inserted.

There is provided, according to some embodiments, a tip section of amulti-camera endoscope, the tip section comprising: two or moreside-pointing cameras positioned at or in proximity to a distal end ofsaid tip section, wherein each of said two or more side-pointing camerashaving a discrete illuminator associated therewith, wherein the field ofview provided by said two or more side-pointing cameras covers a frontand side views; a working channel configured for insertion of a surgicaltool; and a pathway fluid injector for inflating and/or cleaning a bodycavity into which the endoscope is inserted.

There is provided, according to some embodiments, a multi-cameraendoscope comprising: an elongated shaft terminating with a tip sectionturnable by way of a bending section, wherein said tip sectioncomprises: two or more side-pointing cameras positioned at or inproximity to a distal end of said tip section, wherein each of said twoor more side-pointing cameras having a discrete illuminator associatedtherewith, wherein the field of view provided by said two or moreside-pointing cameras covers a front and side views; a working channelconfigured for insertion of a surgical tool; and a pathway fluidinjector for inflating and/or cleaning a body cavity into which theendoscope is inserted.

The tip section may further include two or more side fluid injectorsconfigured for cleaning said two or more side-pointing cameras and/orsaid discrete side illuminators. The two or more side-pointing camerasmay point at directions essentially opposing to one another. The tipsection may include three or more side-pointing cameras. According tosome embodiments, the three or more side-pointing cameras may bepositioned essentially at equal distances from each other along theperimeter of said tip section.

There is provided, according to some embodiments, a tip section of amulti-camera endoscope, the tip section comprising: a front-pointingcamera and a discrete front illuminator associated therewith; a frontfluid injector configured for cleaning at least one of saidfront-pointing camera and said discrete front illuminator; aside-pointing camera; a working channel configured for insertion of asurgical tool; and a pathway fluid injector for inflating and/orcleaning a body cavity into which the endoscope is inserted.

There is provided, according to some embodiments, a multi-cameraendoscope comprising: an elongated shaft terminating with a tip sectionturnable by way of a bending section, wherein said tip sectioncomprises: two or more side-pointing cameras positioned at or inproximity to a distal end of said tip section, wherein each of said twoor more side-pointing cameras having a discrete illuminator associatedtherewith, wherein the field of view provided by said two or moreside-pointing cameras covers a front and side views; a working channelconfigured for insertion of a surgical tool; and a pathway fluidinjector for inflating and/or cleaning a body cavity into which theendoscope is inserted. The tip section may further include a discreteside illuminator associated with side-pointing camera. The tip sectionmay further include a side fluid injector configured for cleaning saidside-pointing camera and/or said discrete side illuminator.

There is provided, according to an embodiment, a multi-camera endoscopecomprising: an elongated shaft terminating with a tip section turnableby way of a bending section, wherein said tip section comprises: afront-pointing camera and a discrete front illuminator associatedtherewith; a front fluid injector configured for cleaning at least oneof said front-pointing camera and said discrete front illuminator; aside-pointing camera and a discrete side illuminator associatedtherewith; a side fluid injector configured for cleaning at least one ofsaid side-pointing camera and said discrete side illuminator; a workingchannel configured for insertion of a surgical tool; and a pathway fluidinjector for inflating and/or cleaning a body cavity into which theendoscope is inserted.

There is further provided, according to an embodiment, a multi-cameraendoscopy system comprising: an endoscope comprising a handle and anelongated shaft terminating with a tip section turnable by way of abending section, wherein said tip section comprises: a front-pointingcamera and a discrete front illuminator associated therewith, a frontfluid injector configured for cleaning at least one of saidfront-pointing camera and said discrete front illuminator, aside-pointing camera and a discrete side illuminator associatedtherewith, a side fluid injector configured for cleaning at least one ofsaid side-pointing camera and said discrete side illuminator, a workingchannel configured for insertion of a surgical tool, and a pathway fluidinjector for inflating and/or cleaning a body cavity into which theendoscope is inserted; a controller connected to said handle of saidendoscope by way of a utility cable; and a display connected to saidcontroller and configured to display video streams received from saidfront and side-pointing cameras.

In some embodiments, said front-pointing camera and said side-pointingcamera are pointing at directions essentially perpendicular to oneanother.

In some embodiments, said front-pointing camera and said side-pointingcamera are pointing approximately 100 to 145 degrees relative to oneanother.

In some embodiments, a center of said side-pointing camera is positionedapproximately 7 to 11 millimeters from a distal end of said tip section.

In some embodiments, each of said discrete front and side illuminatorscomprises a light-emitting diode (LED).

In some embodiments, at least one of said discrete front and sideilluminators is configured to emit white light.

In some embodiments, at least one of said discrete front and sideilluminators is configured to emit ultraviolet light.

In some embodiments, at least one of said discrete front and sideilluminators is configured to emit infrared light.

In some embodiments, at least one of said discrete front and sideilluminators is configured to emit near-infrared light.

In some embodiments, said discrete front and side illuminators areconfigured to emit light in different wavelengths.

In some embodiments, said tip section further comprises an additionaldiscrete front illuminator configured to emit light having a differentwavelength than said discrete front illuminator.

In some embodiments, said additional discrete front illuminator and saiddiscrete front illuminator are configured to simultaneously emit light,each at a different wavelength.

In some embodiments, said tip section further comprises an additionaldiscrete side illuminator configured to emit light having a differentwavelength than said discrete side illuminator.

In some embodiments, said additional discrete side illuminator and saiddiscrete side illuminator are configured to simultaneously emit light,each at a different wavelength.

In some embodiments, each of said front-pointing camera and saidside-pointing camera comprises a Charge Coupled Device (CCD) or aComplementary Metal Oxide Semiconductor (CMOS) image sensor.

In some embodiments, said front and side fluid injectors are connectedto a same fluid supply channel.

In some embodiments, said pathway fluid injector is connected to saidfluid supply channel, together with said front and side fluid injectors.

In some embodiments, at least one of said front and side-pointingcameras comprises a lens assembly providing a field of view of 90degrees or more.

In some embodiments, at least one of said front and side-pointingcameras comprises a lens assembly providing a field of view of 120degrees or more.

In some embodiments, at least one of said front and side-pointingcameras comprises a lens assembly providing a field of view of 150degrees or more.

In some embodiments, said front-pointing camera comprises a lensassembly providing a focal length of approximately 3-100 millimeters.

In some embodiments, said side-pointing camera comprises a lens assemblyproviding a focal length of approximately 2-33 millimeters.

In some embodiments, said tip section further comprises an oppositeside-pointing camera pointing at a direction essentially opposite tosaid side-pointing camera.

In some embodiments, said tip section further comprises a perpendicularside-pointing camera pointing at a direction essentially perpendicularto said side-pointing camera.

In some embodiments, said endoscope is a colonoscope.

In some embodiments, fields of view of said front-pointing camera andside-pointing camera are at least partially overlapping, such that anobject of interest viewed via said side-pointing camera remains in thefield of view of said side-pointing camera while said tip section isbeing turned towards the object, and at least until the object becomesvisible through said front-pointing camera.

In some embodiments, said utility cable comprises: a fluid channel forproviding a fluid to at least one of said injectors; a data cable forreceiving video signals from said front and side-pointing cameras; and apower cable for providing electrical power to said front andside-pointing cameras and to said discrete front and side illuminators.

In some embodiments, said controller is configured to process andcombine video signals received from said front and side-pointing camerasinto a single panoramic video view.

In addition to the exemplary aspects and embodiments described above,further aspects and embodiments will become apparent by reference to thefigures and by study of the following detailed description.

BRIEF DESCRIPTION OF THE FIGURES

Exemplary embodiments are illustrated in referenced figures. Dimensionsof components and features shown in the figures are generally chosen forconvenience and clarity of presentation and are not necessarily shown toscale. It is intended that the embodiments and figures disclosed hereinare to be considered illustrative rather than restrictive. The figuresare listed below:

FIG. 1 shows a cross sectional view of a prior art endoscope;

FIG. 2 shows a cross section of a multi-camera endoscope, according tosome embodiments;

FIG. 3 shows a perspective view of a multi-camera endoscope, accordingto some embodiments;

FIG. 4 shows a cross-sectional view of a bending section of amulti-camera endoscope, according to some embodiments;

FIG. 5 shows a cross-sectional view of a tip section of a multi-cameraendoscope, according to some embodiments;

FIG. 6 shows a semi-pictorial view of a multi-camera endoscopy system,according to some embodiments;

FIGS. 7A-D show perspective views of multiple tip sectionconfigurations, according to some embodiments;

FIG. 8 shows a perspective view of a multi-camera endoscope, accordingto some embodiments; and

FIG. 9 shows a perspective view of a multi-camera endoscope, accordingto some embodiments.

DETAILED DESCRIPTION

An aspect of some embodiments relates to an endoscope having a tipsection equipped with two or more cameras. According to one embodiment,one of the cameras is positioned at a distal end of the tip section andpoints forward, and the remaining camera(s) is positioned further backin the tip section, and points sideways.

According to another embodiment, one of the cameras is positioned at adistal (front) end surface of the tip section and points forward, andthe remaining camera(s) is positioned further back in the tip section,and points sideways.

According to another embodiment, two or more cameras (for example,three, four or more) are positioned in proximity to or at the distal endof the tip section and point sideways such that the field of viewprovided by the cameras covers a front and side views. Even though insuch configuration, according to some embodiments, no camera ispositioned at the distal (front) end surface of the tip section (or inother words, no camera is pointing directly forward), still the field ofview of the side cameras allows view of the front direction of the tipand accordingly of the endoscope.

This configuration, advantageously, may allow for a higher rate ofdetection, compared to conventional configurations, of pathologicalobjects that exist in the body cavity in which the endoscope operates.

The cameras and optionally other elements that exist in the tip section(such as a light source, a working channel, a fluid injector and/or thelike) are uniquely scaled, configured and packaged so that they fitwithin the minimalistic space available inside the tip section, whilestill providing valuable results.

Reference is now made to FIG. 1, which shows a cross sectional view of aprior art endoscope, in this example a colonoscope 100, used within acolon 120 of a patient. The human colon includes a series of annularmuscles which appear in this figure as folds 122 protruding from aninner surface 124 of the colon.

Endoscope 100 includes a front-pointing camera 104 positioned at adistal end 102 of the colonoscope. Camera 104 typically has a wide fieldof view 106. When endoscope 100 is used within a body cavity such ascolon 120, the operator advances the endoscope 100 while viewing images(commonly a video feed) transmitted by camera 104. When a polyp, such aspolyp 110 or 112 is discovered on a wall of colon 120, the operator mayinsert a surgical tool (not shown) through a working channel 105 toremove, treat and/or extract a sample of the polyp or its entirety forbiopsy.

However, in some cases, a polyp, such as polyp 114 may be located on aninner side of a fold 126, such that it is hidden from the field of view106 of camera 104. This phenomena is said to greatly contribute to thecommon statistics, according to which as many as 12-24% of polyps aremissed during colonoscopy. Missing polyps, or a “false negative”diagnosis, may result in late discovery of cancer.

Reference is now made to FIG. 2, which shows a cross section of amulti-camera endoscope 200, according to an embodiment. Endoscope 200may include an elongated shaft 203 (not fully shown) terminating with atip section 202 which is turnable by way of a bending section 204.Advantageously, tip section may include a front-pointing camera 206 aswell as a side-pointing camera 210. While front-pointing camera 206 maybe able to detect, based on its field of view 208, polyps such as polyps218 and 220, side-pointing camera 210 may be further able to detectpolyps which are normally hidden from the front-pointing camera, such aspolyp 216. By rotating endoscope 200 around its longitude, side-pointingcamera 210 may detect polyps circumferentially, 360 degrees around theendoscope. This may enable the detection of polyps such as a polyp 222,which is, similar to polyp 216, located on an inner side of a fold. Inother configurations (not shown), two or more side-pointing cameras mayexist in the tip section, each having a different (or an overlapping, tosome degree) field of view.

Advantageously, the fields of view of front-pointing camera 206 andside-pointing camera 210 are at least partially overlapping, such thatan object of interest (such as a polyp or another pathology) viewed viathe side-pointing camera remains in the field of view of this camerawhile the tip section is being turned towards the object, and at leastuntil the object becomes visible through the front-pointing camera. Thismay be beneficial when a polyp is discovered by side-pointing camera210, and the operator desires to perform a surgical operation on thatpolyp using a surgical tool inserted through a working channel (notshown in the figure) which has an opening in a distal end surface of tipsection 202, next to front-pointing camera 206. For performing thesurgical operation, tip section 202 may need to be turned towards thepolyp. It may greatly assist the operator if the fields of view offront-pointing camera 206 and side-pointing camera 210 have someoverlap, so that the polyp remains in sight throughout the turning ofthe tip section and the operator does not get disoriented.

Reference is now made to FIG. 3, which shows a perspective view of amulti-camera endoscope 300 in more detail, according to an embodiment.Endoscope 300 may include an elongated shaft (not shown), a bendingsection (partially shown) 302 and a tip section 334 which terminates theendoscope.

Bending section 302 may include a plurality of links, such as links 302a-c, which enable the turning of tip section 334 in differentdirections. In a different configuration (not shown), a bending sectionmay be constructed differently, as long as it enables the turning of thetip section 334 in different directions. Bending section 302 may becovered with an elastic sheath (not shown), which may also extend tocover the elongated shaft.

Tip section 334 may include therein a front-pointing camera 304 whichmay capture images through a hole in a distal end surface 306 of the tipsection. A discrete front illuminator 308, which is optionally alight-emitting diode (LED), may be associated with front-pointing camera304 and used for illuminating its field of view through another hole indistal end surface 306. The LED may be a while light LED, an infraredlight LED, a near infrared light LED or an ultraviolet light LED. Theterm “discrete”, in regard to front illuminator 308, may refer to anillumination source which generates light internally—in contrast to anon-discrete illuminator which may be, for example, a fiber optic merelytransmitting light generated remotely. In a different configuration (notshown), two or more discrete front illuminators may be present in thetip section, such as for supplying overall stronger illumination and/orfor increasing the angular coverage of the illumination. These two ormore discrete front illuminators may be located next to one another sothat they share a same protective window on the distal end surface ofthe tip section.

A front fluid injector 310 may be used for cleaning at least one offront-pointing camera 304 and discrete front illuminator 308. Frontfluid injector 310 may be slightly elevated from distal end surface 306,to enable it to inject fluid, from its side 310 a, onto front-pointingcamera 304 and discrete front illuminator 308. Front fluid injector 310may be configured to inject fluids such as water, air and/or the like.

Distal end surface 306 may further include a hole defining a workingchannel 312. Working channel 312 may be a hollow tube configured forinsertion of a surgical tool to operate on various tissues. For example,miniature forceps may be inserted through working channel 312 in orderto remove a polyp or sample of which for biopsy.

A pathway fluid injector 314, defined by another hole in distal endsurface 306, may be used for inflating and/or cleaning the body cavityinto which endoscope 300 is inserted. Inflation may be performed byflowing air or another gas through pathway fluid injector 314, and maybe beneficial for cases in which the body cavity, such as the colon, isshriveled or otherwise does not allow for efficient inspection. Cleaningmay be achieved, for example, by injecting a liquid, such as water orsaline, on an unclean area of the body cavity. Furthermore, pathwayfluid injector 314 (or a different tube, not shown) may be used forapplying suction, in order to evacuate various liquids and/or solidswhich exist in the body cavity and interfere with the inspection.

Tip section 334 may further include therein a side-pointing camera 316which may capture images through a hole in a cylindrical surface 305 ofthe tip section. A discrete side illuminator 322, which is optionallysimilar to discrete front illuminator 308, may be associated withfront-pointing camera 304 and used for illuminating its field of viewthrough another hole in cylindrical surface 305. In a differentconfiguration (not shown), two or more discrete side illuminators may bepresent in the tip section, such as for supplying overall strongerillumination and/or for increasing the angular coverage of theillumination. These two or more discrete side illuminators may belocated next to one another so that they share a same protective windowon the cylindrical surface of the tip section.

A side fluid injector 320 may be used for cleaning at least one ofside-pointing camera 316 and discrete side illuminator 322. In order toprevent tissue damage when cylindrical surface 305 of tip section 334contacts a side wall of the body cavity, side fluid injector 320 andside-pointing camera 316 may be located in a depression 318 in thecylindrical surface. This way, side fluid injector 320 may be elevatedfrom depression 318 but still not significantly protrude from the levelof cylindrical surface 305. The elevation of side fluid injector 320 mayenable it to inject fluid, from its side 320 a, onto side-pointingcamera 316. In an alternative configuration (not shown), one or morediscrete side illuminators may also be included in the depression, sothat fluid injected from the side fluid injector may reach them. In yetanother configuration (not shown), a side-pointing camera, one or moreside illuminators and a side fluid injector may not be located in adepression, but rather be on essentially the same level as thecylindrical surface of the tip section 334.

Reference is now made to FIG. 4, which shows a cross-sectional view of abending section 400 of a multi-camera endoscope, such as multi-cameraendoscope 300 of FIG. 3. A plurality of steering cable eyes, such asfour eyes 408, are positioned on the internal walls of bending section400. Through these eyes 408, steering cables are threaded, to enable themaneuvering of bending section 400. Bending section 400 may also includea working channel 402, through which surgical tools may be inserted, afluid channel 406, through which fluids and/or liquids may be infused,and an electrical channel 404, through which a plurality of electricalcables may be threaded, for transmitting video signals from the camerasand for supplying power to the cameras and the discrete illuminators.

For simplicity of presentation, FIG. 4 only shows a single workingchannel 402, although in a different configuration (not shown), morethan one working channel may exist, to enable the insertion of multiplesurgical tools simultaneously. Similarly, only one fluid channel 406 isshown, although in a different configuration (not shown) more than onefluid channel may be used, such as for separately feeding at least oneof a front fluid injector, a side fluid injector and/or a pathway fluidinjector, as well as for separately providing suction through thepathway fluid injector. Additionally, FIG. 4 shows only a singleelectrical channel 404, but in other configurations (not shown), one ormore of the electrical cables threaded through the elongated shaftand/or the bending section may be separated into a plurality of tubes,for example in order to distance cables causing magnetic induction fromcables which may be influenced by this phenomena.

Reference is now made to FIG. 5, which shows a cross-sectional view of atip section 500 of a multi-camera endoscope, according to an embodiment.Tip section 500 may include a front-pointing image sensor 502, such asCharge Coupled Device (CCD) or a Complementary Metal Oxide Semiconductor(CMOS) image sensor. Front-pointing image sensor 502 may be mounted onan integrated circuit board 506, which may be rigid or flexible.Integrated circuit board 506 may supply front-pointing image sensor 502with the necessary electrical power, and may derive still images and/orvideo feeds captured by the image sensor. Integrated circuit board 506may be connected to a set of electrical cables (not shown) which may bethreaded through an electrical channel running through the elongatedshaft of the endoscope. Front-pointing image sensor 502 may have a lensassembly 504 mounted on top of it and providing the necessary optics forreceiving images. Lens assembly 504 may include a plurality of lenses,static or movable, which may provide a field of view of at least 90degrees and up to essentially 180 degrees. Lens assembly 504 may providea focal length of about 3 to 100 millimeters. Front-pointing imagesensor 502 and lens assembly 504, with or without integrated circuitboard 506, may be jointly referred to as a “front pointing camera”.

One or more discrete front illuminators 508 may be placed next to lensassembly 504, for illuminating its field of view. Optionally, discretefront illuminators 508 may be attached to the same integrated circuitboard 506 on which front-pointing image sensor 502 is mounted (thisconfiguration is not shown).

Tip section 500 may include a side-pointing image sensor 512, such asCharge Coupled Device (CCD) or a Complementary Metal Oxide Semiconductor(CMOS) image sensor. Front-pointing image sensor 502 may be mounted onan integrated circuit board 516, which may be rigid or flexible.Integrated circuit board 516 may supply side-pointing image sensor 512with the necessary electrical power, and may derive still images and/orvideo feeds captured by the image sensor. Integrated circuit board 516may be connected to a set of electrical cables (not shown) which may bethreaded through an electrical channel running through the elongatedshaft of the endoscope.

Side-pointing image sensor 512 may have a lens assembly 514 mounted ontop of it and providing the necessary optics for receiving images. Lensassembly 514 may include a plurality of lenses, static or movable, whichmay provide a field of view of at least 90 degrees and up to essentially180 degrees. Lens assembly 514 may provide a focal length of about 2 to33 millimeters. Side-pointing image sensor 512 and lens assembly 514,with or without integrated circuit board 516, may be jointly referred toas a “side pointing camera”.

One or more discrete side illuminators 518 may be placed next to lensassembly 514, for illuminating its field of view. Optionally, discretefront illuminators 518 may be attached to the same integrated circuitboard 516 on which side-pointing image sensor 512 is mounted (thisconfiguration is not shown).

In another configuration (not shown), integrated circuit boards 506 and516 may be a single integrated circuit board on which both front andside-pointing image sensors 502 and 512 are mounted. For this purpose,the integrated circuit board may be essentially L-shaped.

Front and side-pointing image sensors 502 and 512 may be similar oridentical in terms of, for example, field of view, resolution, lightsensitivity, pixel size, focal length, focal distance and/or the like.

Optionally, side-pointing image sensor 512 and lens assembly 514 areadvantageously positioned relatively close to the distal end surface oftip section 500. For example, a center of the side-pointing camera(which is the center axis of side-pointing image sensor 512 and lensassembly 514) is positioned approximately 7 to 11 millimeters from thedistal end of the tip section. This is enabled by an advantageousminiaturizing of the front and side-pointing cameras, which allows forenough internal space in the tip section for angular positioning of thecameras without colliding.

Reference is now made to FIG. 6, which shows a semi-pictorial viewmulti-camera endoscopy system 600. System 600 may include a multi-cameraendoscope 602, such as the endoscope of FIGS. 2, 3, 4 and/or 5.Multi-camera endoscope 602 may include a handle 604, from which anelongated shaft 606 emerges. Elongated shaft 606 terminates with a tipsection 608 which is turnable by way of a bending section 610. Handle604 may be used for maneuvering elongated shaft 606 within a bodycavity; the handle may include one or more knobs and/or switches 605which control bending section 610 as well as functions such as fluidinjection and suction. Handle 604 may further include a working channelopening 612 through which surgical tools may be inserted.

A utility cable 614 may connect between handle 604 and a controller 616.Utility cable 614 may include therein one or more fluid channels and oneor more electrical channels. The electrical channel(s) may include atleast one data cable for receiving video signals from the front andside-pointing cameras, as well as at least one power cable for providingelectrical power to the cameras and to the discrete illuminators.

Controller 616 may govern power transmission to the endoscope's 602 tipsection 608, such as for the tip section's cameras and illuminators.Controller 616 may further control one or more fluid, liquid and/orsuction pump which supply corresponding functionalities to endoscope602. One or more input devices, such as a keyboard 618, may be connectedto controller 616 for the purpose of human interaction with thecontroller. In another configuration (not shown), an input device, suchas a keyboard, may be integrated with the controller in a same casing.

A display 620 may be connected to controller 616, and configured todisplay images and/or video streams received from the cameras ofmulti-camera endoscope 602. Display 620 may further be operative todisplay a user interface for allowing a human operator to set variousfeatures of system 600.

Optionally, the video streams received from the different cameras ofmulti-camera endoscope 602 may be displayed separately on display 620,either side-by-side or interchangeably (namely, the operator may switchbetween views from the different cameras manually). Alternatively, thesevideo streams may be processed by controller 616 to combine them into asingle, panoramic video frame, based on an overlap between fields ofview of the cameras.

In another configuration (not shown), two or more displays may beconnected to controller 616, each for displaying a video stream from adifferent camera of the multi-camera endoscope.

Reference is now made to FIGS. 7A-D, in which multiple configurations700, 720, 740 and 760 of a tip section are shown.

In configuration 700, a front-pointing camera 702 and a side-pointingcamera 704 are essentially perpendicular to one another, and have,correspondingly, perpendicular fields of view.

In configuration 720, a front-pointing camera 722 is essentiallyperpendicular to a first side-pointing camera 724 and a secondside-pointing camera 726. First and second side-pointing cameras 724-726are pointing perpendicularly to one another, and are positionedessentially 90 degrees apart in the cylindrical surface of the tipsection. In another configuration (not shown), a first and a secondside-pointing cameras may be positioned more than 90 degrees apart inthe cylindrical surface of the tip section, such as 120-150 degreesapart or 150-180 degrees apart. For example, the first and secondside-pointing cameras may be positioned in 180 degrees apart, inopposite sides of the cylindrical surface of the tip section, so thatthey point in opposite directions. In yet further configurations (notshown), three or more side-pointing cameras may be positioned in thecylindrical surface of the tip section, for example, three camerashaving 120 degrees in between them.

In configuration 740, a side-pointing camera 744 is pointing slightlybackwards, so that it forms an angle larger than 90 degrees relative toa front-pointing camera 742. As an example, an angle of 120 degrees isshown. In another configuration (not shown), the angle is 100-145degrees.

In configuration 760, two opposing side cameras 764 and 766 are shown,which are pointing slightly backwards, so that they each form an anglelarger than 90 degrees relative to a front-pointing camera 762. As anexample, an angle of 120 degrees is shown. In another configuration (notshown), the angle is 100-145 degrees.

Similarly, in other configurations (not shown), three or moreside-pointing cameras may be positioned in the cylindrical surface ofthe tip section, each pointing slightly backwards and having an certainangle in between; in the case of three cameras, they may have an angleof 120 degrees in between them.

Reference is now made to FIG. 8, which shows a perspective view of amulti-camera endoscope, according to some embodiments. Endoscope 800includes an elongated shaft 802 which typically includes a bendingsection (not shown) and a tip section 804 which terminates theendoscope. Tip section 804 includes three side-pointing cameras 816 a,816 b (not shown) and 816 c (not shown). Discrete side illuminators (forexample LEDs), not shown, may be associated with the side-pointingcameras 816 a-c for illuminating their respective fields of view 817a-c. Tip section 804 includes further includes a working channel 812which may be a hollow opening configured for insertion of a surgicaltool to operate on various tissues. For example, miniature forceps maybe inserted through working channel 812 in order to remove a polyp orsample of which for biopsy.

Tip 804 may further include other elements/components, (for example, asdescribed herein according to various embodiments) such as fluidinjector(s) for cleaning the cameras and/or there illuminators andpathway fluid injector(s) for inflating and/or cleaning the body cavityinto which endoscope 800 is inserted.

Reference is now made to FIG. 9, which shows a perspective view of amulti-camera endoscope, according to some embodiments. Endoscope 900 issimilar to endoscope 800 how ever does not include a working channel.Elongated shaft 902, tip section 904, side-pointing cameras 916 a, 916 b(not shown) and 916 c (not shown), and their respective fields of view917 a-c may be similar to elongated shaft 802, tip section 804,side-pointing cameras 816 a, 816 b (not shown) and 816 c (not shown),and their respective fields of view 817 a-c of endoscope 800.

While a number of exemplary aspects and embodiments have been discussedabove, those of skill in the art will recognize certain modifications,permutations, additions and sub-combinations thereof. It is thereforeintended that the following appended claims and claims hereafterintroduced be interpreted to include all such modifications,permutations, additions and sub-combinations as are within their truespirit and scope.

In the description and claims of the application, each of the words“comprise” “include” and “have”, and forms thereof, are not necessarilylimited to members in a list with which the words may be associated.

1-20. (canceled)
 21. A medical device including a shaft and a tipsection, wherein the tip section comprises: a front-pointing viewingelement positioned on a distal-facing surface of the tip section, thefront-pointing viewing element having a first field of view; and a firstside-pointing viewing element positioned on a first side surface of thetip section, wherein the first side-pointing viewing element has asecond field of view and includes a fiber optic extending from the tipsection to a proximal portion of the medical device; wherein the firstfield of view partially overlaps with the second field of view.
 22. Themedical device according to claim 21, wherein said front-pointingviewing element has a length over which an external object remains infocus in a range of 3-100 millimeters.
 23. The medical device accordingto claim 21, wherein the second field of view is at least 150 degrees.24. The medical device according to claim 21, wherein the first field ofview is at least 150 degrees.
 25. The medical device according to claim21, wherein the fiber optic is configured to receive light from an areaof interest and transfer the light through the fiber optic to a cameralocated outside the tip section.
 26. The medical device according toclaim 25, wherein the camera located outside the tip section is locatedin a handle of the medical device or in a console associated with themedical device.
 27. The medical device according to claim 21, whereinthe first side-pointing viewing element has a length over which anexternal object remains in focus in a range of 2-33 millimeters and hasa center positioned 7 to 11 millimeters from the distal-facing surface.28. The medical device according to claim 21, wherein the tip sectionfurther comprises a second side-pointing viewing element positioned onan opposite side of the tip section as the first side pointing viewingelement; wherein the second side-pointing viewing element has a thirdfield of view and the third field of view overlaps with the first fieldof view.
 29. The medical device according to claim 21, wherein thefront-pointing viewing element and the first side-pointing viewingelement are pointing at directions essentially perpendicular to oneanother.
 30. The medical device according to claim 21, wherein thefront-pointing viewing element and the first side-pointing viewingelement are pointing approximately 100 to 145 degrees relative to oneanother.
 31. The medical device according to claim 21, wherein the tipsection further comprises: a first illuminator associated with thefront-pointing viewing element; and a second illuminator associated withthe side-pointing viewing element.
 32. A medical device including ashaft and a tip section, wherein the tip section comprises: a firstside-pointing viewing element positioned on a first side surface of thetip section, the first side-pointing viewing element having a firstfield of view; and a second side-pointing viewing element positioned ona second side surface of the tip section, wherein the secondside-pointing viewing element has a second field of view and includes afiber optic extending from the tip section to a proximal portion of themedical device; wherein the first field of view partially overlaps withthe second field of view.
 33. The medical device according to claim 32,wherein the fiber optic is configured to receive light from an area ofinterest and transfer the light through the fiber optic to a cameralocated outside the tip section.
 34. The medical device according toclaim 33, wherein the camera located outside the tip section is locatedin a handle of the medical device or in a console associated with themedical device.
 35. The medical device according to claim 33, whereinthe first side-pointing viewing element and the second side-pointingviewing element are pointing at directions essentially perpendicular toone another.
 36. The medical device according to claim 32, wherein thetip section further comprises a front-pointing viewing elementpositioned on a distal-facing surface of the tip section; wherein thefront-pointing viewing element has a third field of view and the thirdfield of view overlaps with the first and second fields of view.
 37. Themedical device according to claim 36, wherein a central axis of thefirst field of view forms an angle larger than ninety degrees relativeto a central axis of the third field of view.
 38. The medical deviceaccording to claim 32, wherein the first side-pointing viewing elementis positioned within a first recess of the first side surface and thesecond side-pointing viewing element is positioned within a secondrecess of the second side surface; and wherein the tip section furthercomprises a fluid injector configured to inject fluid into at least oneof the first recess and the second recess.
 39. The medical deviceaccording to claim 32, wherein the first side-pointing viewing elementincludes a camera positioned in the tip section; and wherein the secondside-pointing viewing element includes a lens assembly configured toreceive light from an area of interest and the received light istransferred through the fiber optic.
 40. A medical device including ashaft and a tip section, wherein the tip section comprises: a firstside-pointing viewing element positioned on a first side surface of thetip section, the first side-pointing viewing element having a firstfield of view; and a second side-pointing viewing element positioned ona second side surface of the tip section, wherein the secondside-pointing viewing element has a second field of view and includes afiber optic extending from the tip section to a proximal portion of themedical device; wherein the first field of view partially overlaps withthe second field of view; wherein the first field of view and the secondfield of view are each configured to provide a view of the frontdirection of the tip section; and wherein the tips section does notinclude a front-pointing viewing element.